package suray.rgv.communication.data;

import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;
import lombok.NoArgsConstructor;

import java.util.List;

/**
 * 指定路径导航
 */
@NoArgsConstructor
@Data
public class AppiontRout {

    @JsonProperty("move_task_list")
    private List<MoveTaskListDTO> move_task_list;

    @NoArgsConstructor
    @Data
    public static class MoveTaskListDTO {
        @JsonProperty("id")
        private String id;
        @JsonProperty("source_id")
        private String source_id;
        @JsonProperty("task_id")
        private String task_id;
        @JsonProperty("operation")
        private String operation;
        @JsonProperty("jack_height")
        private Float jack_height;

        //将货叉移动到start_height高度，接着机器人移动到id点，然后机器人将货叉放到end_height，卸载货物
        @JsonProperty("start_height")
        private Float start_height;
        //到达id点后将货叉上升到的高度
        @JsonProperty("end_height")
        private Float end_height;
        //到达id点后将货叉前移距离，单位m
        @JsonProperty("fork_dist")
        private Float fork_dist;
        //去往id点的途中将货叉上升到指定的高度
        @JsonProperty("fork_mid_height")
        private Float fork_mid_height;
        //是否启用识别栈
        @JsonProperty("recognize")
        private Boolean recognize;
        @JsonProperty("recfile")
        private String recfile;
        @JsonProperty("script_args")
        private String script_args;
        @JsonProperty("script_stage")
        private Integer script_stage;
        @JsonProperty("script_name")
        private String script_name;
    }
}
